WO2018029055A1

WO2018029055A1 - Providing driver assistance

Info

Publication number: WO2018029055A1
Application number: PCT/EP2017/069527
Authority: WO
Inventors: Hubert GLAS
Original assignee: Bayerische Motoren Werke Aktiengesellschaft
Priority date: 2016-08-12
Filing date: 2017-08-02
Publication date: 2018-02-15
Also published as: CN109153382A; DE102016215061A1; EP3496981A1; EP3496981B1; US11091167B2; US20190135299A1

Abstract

The invention relates to a method for providing driver assistance, which method relies on reliable data sources and increases the ease of use of a vehicle. The invention further relates to a driver assistance system designed in accordance with the method and to a vehicle having the driver assistance system. The invention further relates to a computer program product having control commands that implement the method according to the invention or operate the driver assistance system according to the invention.

Description

Provision of driver assistance

The invention relates to a method for providing a driver assistance, which relies on reliable data sources and ease of use of a

Vehicle increased. Furthermore, the present invention is directed to a

Driver assistance system, which is designed according to the method, as well as a vehicle having the driver assistance system. Furthermore, a

Computer program product with control commands that the proposed

Implement method or operate the proposed driver assistance system, proposed.

DE 10 201 1 075 407 A1 shows a control system for controlling a

Operating state of a vehicle, which is based on speed data, GPS data and / or weather data (currently determined and empirical values)

Performs actions, for example, the window or sunroof closes, the air conditioner sets or the threshold value of the anti-trap

Window automatic defined.

DE 19 619 643 C1 shows a control of functions based on navigation data. This functionality is supplemented by DE 10 315 047 A1 in that the user can teach the system function-dependent position-dependent, so that they can run automatically at later times.

DE 10 2008 056 907 A1 likewise describes an adaptive system which, knowing the current vehicle position, can control any vehicle components. However, the user has to define himself at which positions what should happen. DE 10 2004 002 584 A1 shows a system which, depending on the number of received satellite signals (GPS, Glonass, GNSS and future systems), opens and closes windows and roof / sunroof. Other vehicle functions can also be linked to this action, such as the on / off

Turn off the headlights. To use the unwanted automatic system action An additional switch is provided which prevents the driver at any time from canceling the automatic action.

In various traffic situations, many concurrent driver actions may be required. For example, when entering a tunnel, the vehicle must be controlled, at the same time the windows and sunroof are closed, the air conditioning system is put into recirculation mode and the headlights are switched on.

Known methods address the problem of automatic,

situation-dependent control of vehicle components, in particular the vehicle outer skin. This requires basic elements, such as a functional logic that defines the control parameters, and a control unit that performs an action based on this data.

A disadvantage of systems according to the prior art is that they are based on data from systems that belong to the technically complex special equipment of vehicles, such as navigation data, weather data or data from the Internet. Thus, these can only be used in vehicles that have this technically complex special equipment. Further, prior art systems require connection of the vehicle to satellites, the Internet or any other external information source. Thus, they can not work exactly in case of a signal interruption, for example in long tunnels or underground car parks. Previous adaptive or pre-programmable systems typically require user interaction, either prior to or during the journey, for example, to activate the learn mode.

It is therefore an object of the present invention to provide a method for

Provide a driver assistance, which on reliable

Data sources and increases the ease of use of a vehicle. Furthermore, it is an object to provide a driver assistance system, which is designed according to the method, as well as having a vehicle

Driver assistance system. It is also an object of a computer program product to propose with control commands that implement the proposed method or operate the proposed driver assistance system.

The object is achieved by a method having the features according to claim 1. Further advantageous embodiments are specified in the subclaims.

Accordingly, a method for providing a driver assistance

proposed, which comprises the following steps, namely a recording of at least one movement pattern of a vehicle together with activated

Vehicle functions and providing the respective vehicle function in

Dependence of a recognition of at least a part of an already recorded movement pattern during a drive, wherein the movement pattern is created by means of odometry sensors.

The driver assistance is provided in such a way that either the vehicle functions are carried out directly or are proposed to the user and the latter can accept them. A driver assistance controls at least one functionality of the vehicle. It is not essential here that the driver assistance system actually supports driving in itself, but rather the user, ie the driver, can be offered any functions which can be controlled directly or indirectly via the driver assistance system. The recording of at least one movement pattern of a vehicle together with activated vehicle functions corresponds to a storage of driving parameters including those functions which the driver has initiated. The maneuvering is typically done manually, concluding that the driver would re-initiate this function in the same situation. Thus, according to the invention, driving parameters are recorded in preparatory method steps and measured with sufficient agreement during a journey

Driving parameters is recognized that the same route has already been traveled or the same situation has already occurred. Thus, the driver can be offered to carry out the same functions with his consent or automatically. Providing the respective vehicle function or a plurality of

Vehicle functions are performed as a function of recognizing at least a part of an already recorded movement pattern, ie either a partial route or a situation which has already been passed through. Thus, a behavior of the driver can be assigned to a route or a situation and this behavior can be performed again.

Since the motion pattern is created using odometry sensors, this will

Observed vehicle behavior over a given period and the

Vehicle data is stored. Thus, according to the invention apply

Odometry sensors as all sensors, which have a driving behavior and / or

Pick up vehicle parameters. For this purpose, the person skilled in the art knows a number of sensors which measure, for example, parameters of further components. These components are preferably the engine, the steering wheel, a brake, tires or tire parts,

Raddrehzahlsensorik, acceleration and yaw rate sensor and generally all vehicle components, which draw conclusions on a traversed

Allow vehicle movement.

A movement pattern of a vehicle includes distances, partial sections, curves, speeds, a braking behavior, an acceleration behavior

Steering, any sequence of already prepared Odometriedaten and more. For example, a movement pattern is a sequence of a distance of a first length together with a slight curve. This is followed by a second, straight stretch. Thereafter, a sharp curve with appropriate

Braking. If these partial movement patterns or the movement pattern as a whole are recognized, one or more vehicle functions can be offered.

In general, the present invention is applicable to vehicles with any

Drive concepts, such as electric vehicles, vehicles with

Internal combustion engine or hybrid vehicles directed. In this respect, motor vehicles together with driver assistance systems are generally according to the invention

further developed. The term vehicle skin is considered a generic term for the Understand external components of the vehicle. The components of the vehicle thereby offer a vehicle function.

In the following, according to one aspect of the present invention, a new functional logic is presented which either independently executes vehicle functions or proposes options for vehicle functions to the driver which are executed after a confirmation by the driver.

According to the invention, the functional logic is based on odometric data,

For example, the distance traveled, the position and orientation of the

Vehicle in a global coordinate system, a curvature, a

Floating angle, the steering wheel angle etc. From this movement patterns of the vehicle are learned by recurrent processes, ie a similar sequence of odometric data are stored. According to one aspect of the present invention, the learning process takes place completely automatically from the driver's point of view in the background, without driver interaction, and thus differs from known methods, as shown for example in DE 10 315 047 A1, in which the driver himself initiates the learning process got to. This disadvantage is overcome according to the invention.

In the context of the present invention, odometry refers to a method of estimating the position and orientation of a vehicle based on the data of the respective propulsion system, the steering and inertial sensors. An example of this is the number of wheel revolutions taking into account their dimensions.

In the present case, odometry denotes at least one functionality which at certain times of the journey determines the position, orientation and driving state of a vehicle

Recognizes vehicle. For this purpose, the odometry sensor monitors the chassis together with the respective wheel rotation, the direction, accelerations, yaw rates and steering together with wheel steering angle and steering wheel angle. Thus, a path without reception such as tunnels can be bridged and data of other sensors can be verified.

According to the invention, the learning process can take place in such a way that the odometry is tracked over several seconds, ie monitored, and in the case of a window or window Roof window operation is stored. The more common the corresponding

Event repeats, the more precisely the functional logic can predict future actions. On the basis of this, then either automatically certain

Vehicle functions run, for example, the window or roof are operated, or these actions are at least suggested to the driver.

A possible application example is the parking out of an underground car park with fixed parking spaces. The driving movement will always be the same after starting the engine, so that the proposed function logic can detect the movement pattern and at the right moment, for example, just before reaching the gate or the barrier, can perform an action that is always required at this point For example, open the window on the driver's side so that the driver can open the barrier with the parking ticket. The subsequent continuation of the journey can also be detected, so that the window is automatically closed. At that moment, the driver has to hold the steering wheel and engage a gear. So he has no hand free to press the button to open the window itself.

If it is the parking, for example, at the end of the commute, so this can also be recognized as a movement pattern, as the work path

usually the same daily. Another embodiment according to one aspect of the present invention

The invention can be designed such that proposals for functions are made to the driver on the basis of the detected movement pattern. These

Proposals can then be confirmed in various ways so that the vehicle performs the action (s). Conceivable possibilities for confirmation include, for example, integration in a driver assistance system, gesture control or even tapping a touch display.

In contrast to the prior art, the domain-based position detection is not dependent on optional equipment and can also function independently of time, weather and satellite data. However, to improve accuracy, it can be coupled to other data when the corresponding vehicle has suitable systems. According to one aspect of the present invention, this functional logic can be coupled exclusively to non-safety-relevant functions, so that it merely leads to an improvement in operating convenience. Thus, it is particularly advantageous according to the invention that an increase in the

Ease of use by reducing the necessary actions of the driver takes place, with multiple actions are simultaneously performed and it is initiated with just a push of a button, interaction or other confirmation a plurality of actions. Thus, a renunciation of user interaction in automatic mode can be realized.

According to one aspect of the present invention, a self-learning functional logic is provided which operates detached from satellite data and thus is also suitable for vehicles without a navigation system and does not require any action on the part of the user for learning movement schemes. The time of the action or the proposal for action is fully automatically learned and optimized according to the invention. Predictions become more precise as the data set grows. The functional logic works even if there is no connection to an external signal source.

According to one aspect of the present invention, a vehicle function comprises moving at least one vehicle window, activating an air conditioning system, activating ventilation, controlling at least one vehicle light, and / or triggering a comfort function. This has the advantage that any

Vehicle function, such as a window or a roof window, can be operated. In particular, several of the mentioned components can be addressed simultaneously. In this case, all components are conceivable which can be addressed directly or indirectly by means of a driver assistance system.

According to a further aspect of the present invention, the provision of the respective vehicle function comprises an automatic triggering of the vehicle function or a triggering of the vehicle function as a function of a user input. This has the advantage that the vehicle functions are performed automatically or the user is prompted to authorize the execution. Thus, the driver by voice input, pressing a button or touching a

touch-sensitive displays perform the functions offered. For this, any human-machine interface is conceivable, such as gesture control.

According to another aspect of the present invention, by means of

at least one odometry sensor detects a length of a covered distance, steering wheel angle, wheel rotations, a direction of travel, rotation rates, accelerations and / or vehicle parameters. This has the advantage that sensors can be used, which can always be kept in a vehicle without interruption. So no data connection is necessary, which may be disturbed or falsified. Furthermore, it is advantageous to maintain the odometry sensors redundantly, such that if one sensor fails, at least one further replaces them. Furthermore, sensor data can thus be checked, since a plurality of sensors can each provide a value separately, and thus reference data of the same, expected value are present.

According to another aspect of the present invention, recognizing at least part of an already recorded movement pattern comprises

Comparing detected with stored motion patterns, both substantially coincident. This has the advantage that the movement pattern does not have to be completely correctly recognized, but rather a threshold value can be provided which requires a required degree of agreement. For example, a route with equal lengths and curves is recognized, which coincides to a high percentage with a stored route. If the high percentage of coincidence of a route just measured and a stored route is present, then the same functions can be offered or carried out as were activated when the route was traveled through for the first time.

According to a further aspect of the present invention, the data of the odometry sensors are supplemented by data from further sensors. This has the advantage that data can be verified or even refined. So can the Odometry data to be checked and expanded. In particular, sensors can thus be calibrated.

According to a further aspect of the present invention, the recording comprises at least one movement pattern of a vehicle, including one activated

Vehicle functions include recording the times that indicate when the respective vehicle function has been activated and providing the respective vehicle function in each case takes into account this time. This has the advantage that if a situation or a route is recognized, the respective function can be offered or carried out at just the right time. Thus, therefore, with each movement pattern is a temporal sequence of

Activation times linked which individual points of the

Movement pattern is assigned.

The object is also achieved by a driver assistance system for providing a driver assistance, comprising a sensor unit configured to record at least one movement pattern of a vehicle together with activated

Vehicle functions and an output unit configured to provide the respective vehicle function in response to detecting at least a portion of an already recorded movement pattern during a journey, wherein the movement pattern is created by means odometry sensors. Here, the proposed method steps are structurally modeled.

The object is also achieved by vehicle having the proposed driver assistance system.

The task is also solved by a computer program product

Control commands which implement the proposed method or operate the proposed driver assistance system.

According to the invention, it is particularly advantageous that the method for operating the proposed driver assistance system together with its units can be used. Furthermore, the proposed devices and

Facilities, so the driver assistance system, to perform the inventive method. Thus, the device implements structural features that are suitable for carrying out the corresponding method. However, the structural features can also be configured as method steps. Also, the proposed procedure holds steps

Implementation of the function of structural features.

Further advantages, features and details of the invention will become apparent from the following description in which, with reference to the drawings, aspects of the invention are described in detail. The features mentioned in the claims and in the description may each be essential to the invention individually or in any desired combination. Likewise, the features mentioned above and further explained here can be used individually or in combination in any combination. The embodiments shown and described are not to be understood as exhaustive, but have exemplary character for explaining the invention. The detailed description is for the information of the person skilled in the art, therefore, in the description of known circuits, structures and methods are not shown or explained in detail in order not to complicate the understanding of the present description. In the figures shows:

FIG. 1 is a schematic flow diagram of a method for providing driver assistance according to an aspect of the present invention

Invention.

FIG. 1 shows a schematic flow diagram of a method for providing driver assistance, comprising the steps of recording at least one movement pattern of a vehicle together with activated vehicle functions and providing the respective vehicle function as a function of recognition 101 of at least part of an already recorded one

Movement pattern during a ride, wherein the movement pattern is created using odometry sensors 100.

The person skilled in the art recognizes that individual process steps are iterative

can be performed. For example, the recording 100 may be at least a pattern of movement are repeated as often, so that sufficient

Reference data is available. This method step can also be carried out by the manufacturer in such a way that the movement patterns are available in a data memory and with a vehicle or the vehicle

Driver assistance system to be delivered. Thus, the movement patterns can be stored on a data storage.

Furthermore, the individual method steps can be implemented as structural features of the driver assistance system, for which reason FIG. 1 also shows in an analogous manner a block diagram of the driver assistance system together with corresponding units.

Not shown in the present case is a data memory or a computer-readable medium with a computer program product having control commands which implement the proposed method or the proposed method

Operate driver assistance system.

Claims

claims

1 . Method for providing a driver assistance, comprising the steps:

- recording (100) at least one movement pattern of a vehicle together with activated vehicle functions; and - providing (102) the respective vehicle function as a function of a

Recognizing (101) at least part of an already recorded one

Movement pattern during a ride, characterized by the step:

Create (100) the movement pattern using odometry sensors.

2. The method according to claim 1, characterized in that a vehicle function comprises moving at least one vehicle window, driving an air conditioning system, driving a ventilation, driving at least one vehicle light and / or driving a comfort function.

3. The method according to claim 1 or 2, characterized in that the

Providing (102) the respective vehicle function comprises an automatic triggering of the vehicle function or a triggering of the vehicle function in response to a user input.

4. The method according to any one of the preceding claims, characterized in that by means of at least one Odometriesensors a length of a covered distance, steering wheel angle, wheel rotations, a direction of travel, accelerations, yaw rates and / or vehicle parameters detected (100).

5. The method according to any one of the preceding claims, characterized in that the detection (101) of at least a part of an already recorded movement pattern, a comparison of recorded with stored

Movement patterns includes, both essentially agree.

6. The method according to any one of the preceding claims, characterized in that the data of the odometry sensors are supplemented by data of other sensors.

7. The method according to any one of the preceding claims, characterized in that the recording (100) of at least one movement pattern of a vehicle including activated vehicle functions includes a recording of the times that indicate when the respective vehicle function has been activated and the provision of the respective vehicle function each time considered.

8. Driver assistance system for providing a driver assistance, comprising: a sensor unit configured to record at least one

Movement pattern of a vehicle together with activated vehicle functions;

- An output unit configured to provide the respective vehicle function in response to a detection of at least a part of an already

recorded movement pattern during a journey, characterized in that the driver assistance system is adapted to create the movement pattern using odometry sensors.

9. vehicle having a driver assistance system according to claim 8.

A computer program product with control instructions implementing the method of any one of claims 1 to 7.